point_cloud_xyz.cpp
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34 #include <ros/ros.h>
35 #include <nodelet/nodelet.h>
39 #include <boost/thread.hpp>
41 
43 
44 namespace depth_image_proc {
45 
47 
49 {
50  // Subscriptions
54 
55  // Publications
56  boost::mutex connect_mutex_;
57  typedef sensor_msgs::PointCloud2 PointCloud;
59 
61 
62  virtual void onInit();
63 
64  void connectCb();
65 
66  void depthCb(const sensor_msgs::ImageConstPtr& depth_msg,
67  const sensor_msgs::CameraInfoConstPtr& info_msg);
68 };
69 
71 {
73  ros::NodeHandle& private_nh = getPrivateNodeHandle();
74  it_.reset(new image_transport::ImageTransport(nh));
75 
76  // Read parameters
77  private_nh.param("queue_size", queue_size_, 5);
78 
79  // Monitor whether anyone is subscribed to the output
80  ros::SubscriberStatusCallback connect_cb = boost::bind(&PointCloudXyzNodelet::connectCb, this);
81  // Make sure we don't enter connectCb() between advertising and assigning to pub_point_cloud_
82  boost::lock_guard<boost::mutex> lock(connect_mutex_);
83  pub_point_cloud_ = nh.advertise<PointCloud>("points", 1, connect_cb, connect_cb);
84 }
85 
86 // Handles (un)subscribing when clients (un)subscribe
88 {
89  boost::lock_guard<boost::mutex> lock(connect_mutex_);
91  {
93  }
94  else if (!sub_depth_)
95  {
97  sub_depth_ = it_->subscribeCamera("image_rect", queue_size_, &PointCloudXyzNodelet::depthCb, this, hints);
98  }
99 }
100 
101 void PointCloudXyzNodelet::depthCb(const sensor_msgs::ImageConstPtr& depth_msg,
102  const sensor_msgs::CameraInfoConstPtr& info_msg)
103 {
104  PointCloud::Ptr cloud_msg(new PointCloud);
105  cloud_msg->header = depth_msg->header;
106  cloud_msg->height = depth_msg->height;
107  cloud_msg->width = depth_msg->width;
108  cloud_msg->is_dense = false;
109  cloud_msg->is_bigendian = false;
110 
111  sensor_msgs::PointCloud2Modifier pcd_modifier(*cloud_msg);
112  pcd_modifier.setPointCloud2FieldsByString(1, "xyz");
113 
114  // Update camera model
115  model_.fromCameraInfo(info_msg);
116 
117  if (depth_msg->encoding == enc::TYPE_16UC1)
118  {
119  convert<uint16_t>(depth_msg, cloud_msg, model_);
120  }
121  else if (depth_msg->encoding == enc::TYPE_32FC1)
122  {
123  convert<float>(depth_msg, cloud_msg, model_);
124  }
125  else
126  {
127  NODELET_ERROR_THROTTLE(5, "Depth image has unsupported encoding [%s]", depth_msg->encoding.c_str());
128  return;
129  }
130 
131  pub_point_cloud_.publish (cloud_msg);
132 }
133 
134 } // namespace depth_image_proc
135 
136 // Register as nodelet
boost::function< void(const SingleSubscriberPublisher &)> SubscriberStatusCallback
boost::shared_ptr< image_transport::ImageTransport > it_
void publish(const boost::shared_ptr< M > &message) const
#define NODELET_ERROR_THROTTLE(rate,...)
ros::NodeHandle & getPrivateNodeHandle() const
bool fromCameraInfo(const sensor_msgs::CameraInfo &msg)
bool param(const std::string &param_name, T &param_val, const T &default_val) const
image_transport::CameraSubscriber sub_depth_
Publisher advertise(const std::string &topic, uint32_t queue_size, bool latch=false)
ros::NodeHandle & getNodeHandle() const
uint32_t getNumSubscribers() const
image_geometry::PinholeCameraModel model_
PLUGINLIB_EXPORT_CLASS(depth_image_proc::PointCloudXyzNodelet, nodelet::Nodelet)
void setPointCloud2FieldsByString(int n_fields,...)
void depthCb(const sensor_msgs::ImageConstPtr &depth_msg, const sensor_msgs::CameraInfoConstPtr &info_msg)


depth_image_proc
Author(s): Patrick Mihelich
autogenerated on Thu Nov 7 2019 03:44:56